US4827415A - Electropneumatic door control system - Google Patents

Electropneumatic door control system Download PDF

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Publication number
US4827415A
US4827415A US06/466,685 US46668583A US4827415A US 4827415 A US4827415 A US 4827415A US 46668583 A US46668583 A US 46668583A US 4827415 A US4827415 A US 4827415A
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United States
Prior art keywords
door
signal
value
velocity
delay
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US06/466,685
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English (en)
Inventor
Wolfgang Gudat
Peter Liermann
Jurgen Binarsch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wabco Fahrzeugbremsen GmbH
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Wabco Fahrzeugbremsen GmbH
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Assigned to WABCO FAHRZEUGBREMSEN GMBH reassignment WABCO FAHRZEUGBREMSEN GMBH ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: BINARSCH, JURGEN, GUDAT, WOLFGANG, LIERMAN, PETER
Application filed by Wabco Fahrzeugbremsen GmbH filed Critical Wabco Fahrzeugbremsen GmbH
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/49—Safety devices, e.g. detection of obstructions or end positions specially adapted for mechanisms operated by fluid pressure, e.g. detection by monitoring transmitted fluid pressure
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/50—Power-operated mechanisms for wings using fluid-pressure actuators
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/55—Obstruction or resistance detection by using load sensors
    • E05Y2400/554—Obstruction or resistance detection by using load sensors sensing motor load
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/506—Application of doors, windows, wings or fittings thereof for vehicles for buses
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
    • E05Y2900/531—Doors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/093—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against increase beyond, or decrease below, a predetermined level of rotational speed

Definitions

  • the invention pertains to an electropneumatic door control system for use on public transportation vehicles serving the transport of passengers, as for example buses.
  • the controls are usually pneumatically or electropneumatically actuated, i. e. the driver triggers, for the purpose of opening or closing the door, a pneumatic or electropneumatic pulse which applies compressed air via a door valve in the form of a control valve to a door drive designed as door cylinder, and where the stroke movements of the door cylinder piston initiate the opening and closing of the door.
  • Another disadvantage is that after the timing elements have been regulated the standard movement of the door wings is fixed and does not adapt to the changing operating conditions occurring in practical application. During the winter months, for example, as a result of the changed kinematics of the door they might have such an effect that the actual movement is slowed down as compared to the standard motion. A slower movement might also occur after the emergency cock has been actuated when the system is repressurized at a throttled pace.
  • the object of the invention is to provide a door control system which accurately determines the position of the door, evaluates the motion characteristics of the door movement, initiates a proper action based on the above information, and performs all of the above at a minimum cost, with a minimum number of elements and over a varied range of climatic conditions.
  • the preferred embodiment of the invention consists of two linear motion sensors, each having a slider portion mounted on the piston rods of two respective door cylinders.
  • An electronics package provides a constant voltage to one side of the motion sensors, while the other side is connected to a reference ground. Movement of the door cylinder which causes movement of the slider portion, results in a change in the voltage measured at the slider portion. By connecting the slider to the electronics package, this change in voltage can be evaluated and a correct action initiated by the electronics package based on this evaluation.
  • FIG. 1 a door control according to the state of the art
  • FIG. 2 a door control according to the invention.
  • FIG. 3 is a diagrammatic representation of the
  • the door control shown in FIG. 1 as per the state of the art was taken from the above mentioned copending U.S. patent application Ser. No. 295,393, which has matured into U.S. Pat. No. 4,478,131. Essentially it comprises a compressed air reservoir 6, an emergency cock 7, a shutoff valve 8, a door valve 9, and two pneumatic working cylinders 4, 5.
  • the pressure space of the working cylinders 4, 5 is connected to electropneumatic differential pressure switches 13, 14.
  • the working cylinders 4, 5 are connected with one wing each (not shown) of a vehicle door. For sensing the end positions of the door wings there are limit switches 11, 12.
  • the door reversal on the part of the driver is effected with a key 10. All of the electric switching signals for the control of the door system are produced by the electronic system 3 or passed on to same, respectively.
  • linear motion sensors 1, 2 One slider each of these motion sensors is mounted on a piston rod of a door cylinder 4, 5.
  • the linear motion sensors are supplied from the electronics 3 via lines 17, 18, 19 with a stabilized supply voltage (constant voltage) and at the other end are connected to ground.
  • the pick-ups or sliders of the motion sensors are connected to the electronics 3 across lines 15, 16.
  • the voltage applied on the lines 15, 16 is a measure for the respective position of the door wings.
  • rotary pentiometers may be employed which are mounted on a hinge of the door (not shown).
  • the motion sensors may be of a non-contact design for longer life. However, they must give an analog output signal.
  • the motion sensors 1, 2 may also be supplied with a constant current via lines 15, 16. This eliminates the lines 17, 18, 19 (not shown).
  • the voltage developing on lines 15, 16 is collected in the electronics 3 and is a measure for the respective position of the door wings.
  • the motion sensors 1, 2 may also be supplied with a constant voltage via lines 17, 18, 19 while at the same time connecting the sliders to ground, so that lines 15, 16 are eliminated.
  • the ensueing current is evaluated within the electronics by means of a precision resistor which at the same time serves as a current limiter.
  • a voltage signal is produced whose non-linearity is taken into consideration during further processing in the electronics.
  • a constant-current generator is not required in that case.
  • the electronics 3 determine the position of the doors including the end positions as well as--after differentiating--also the door wing speed and acceleration or retardation, respectively.
  • the electronics 3 include a computer, a microcomputer, for example.
  • the computer contains a memory which stores for the respective sensed door position the corresponding standard door velocity. A comparison between the measured door velocity and the standard door velocity is then made. If the resulting difference is too great of the standard door velocity as opposed to the actual door speed, the logic triggers a so-called monitoring function. This causes the door to reverse when it is closing and depressurizes when the door is opening. This guarantees a sensitive reaction to obstructions.
  • the computed delay of the door is monitored simultaneously. Is the value too high (exceeding a threshold), the monitoring function is triggered once again. Measuring the door delay as a fraction of voltage change rather than presence detection has the advantage that the movement the door is being monitored even more sensitively. The monitoring alone of the door delay is not sufficient, however, since during a slow, sluggish braking of the door it would not be possible to reach the delay threshold.
  • the acceleration of the door is being monitored as well.
  • An acceleration in the direction of opening or closing occurs when the door is being manually moved or pushed. After that the door will stop for a short time or is greatly delayed, respectively, until the pressure within the drive cylinders has once again built up corresponding to the position of the door and the door then continues to move until it reaches its end position.
  • the sliding or pushing does ot have any other negative results.
  • the computer has to detect it, though, so that the monitoring function--which otherwise would react because of wrong speed and delay of the door--can be rendered ineffective for a short period.
  • the computer triggers the monitoring function if after a certain interval following a reversal, i. e., after the driver actuated the key 10, a minimum speed of the door has not been reached.
  • the computer When the door system is first started after the vehicle was not in operation the computer recognizes or picks up the end positions of the door. For this it is necessary that the open or closed position of the door is assigned to two voltage values of the linear motion sensor 1, 2, respectively. This eliminates the conventional limit switches 11, 12.
  • the adjustment of the end positions is executed in the following manner for the door control according to the invention: When the door system is put on line a check is made first by means of a pressure switch 20, whether there is pressure. This is a condition for the fact that the door has assumed an end position. With this the corresponding voltage value of the linear motion sensor can be stored.
  • the computer can actualize in small steps the originally stored values for the standard door velocity. This is executed by overwriting with new values the memory content if differences occur between the actual and the controlled door speed. With this the control can adapt to changed kinematic conditions. In the event, however, that suddenly greater deviations in speed occur, the monitoring function connects once again.
US06/466,685 1982-02-12 1983-02-15 Electropneumatic door control system Expired - Fee Related US4827415A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19823205091 DE3205091A1 (de) 1982-02-12 1982-02-12 Elektropneumatische tuersteuerung

Publications (1)

Publication Number Publication Date
US4827415A true US4827415A (en) 1989-05-02

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Family Applications (1)

Application Number Title Priority Date Filing Date
US06/466,685 Expired - Fee Related US4827415A (en) 1982-02-12 1983-02-15 Electropneumatic door control system

Country Status (4)

Country Link
US (1) US4827415A (de)
EP (1) EP0086267B1 (de)
AT (1) ATE13327T1 (de)
DE (2) DE3205091A1 (de)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU626725B2 (en) * 1989-04-05 1992-08-06 Morrison-Knudsen Company, Inc. Transit car door system and operation
AU650575B2 (en) * 1990-09-25 1994-06-23 Morrison-Knudsen Company, Inc. Transit car door system and operation
FR2808300A1 (fr) * 2000-03-27 2001-11-02 Stabilus Gmbh Systeme d'actionnement comprenant une unite a piston-et-cylindre et un entrainement
US20060123932A1 (en) * 2004-12-10 2006-06-15 Nissan Motor Co., Ltd. Testing device for evaluating performance of closure of a vehicle door and testing method
EP1726761A1 (de) * 2005-05-24 2006-11-29 Grupo Antolin-Ingenieria, S.A. Pneumatischer Fensterheber
US20070029372A1 (en) * 2005-08-03 2007-02-08 Starco Llc Collection device and method
US20090216400A1 (en) * 2008-02-22 2009-08-27 Gm Global Technology Operations, Inc. Fuel door sensor diagnostic systems and methods
US20090293614A1 (en) * 2008-05-30 2009-12-03 Gm Global Technology Operations, Inc. Apparatus and method for determining the closing velocity of a vehicle door
ES2401784R1 (es) * 2011-04-13 2013-08-26 Medva Mecanismos Del Valles S L Sistema de seguridad para puertas
US11565892B2 (en) 2020-07-08 2023-01-31 Trans-Vac Systems LLC Methods and systems for operation of a vacuum transport system

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3333161A1 (de) * 1983-09-14 1985-03-28 Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover Einrichtung zur erfassung der bewegung und/oder der position eines schwenkbaren tuerblattes
GB2155097B (en) * 1984-02-27 1987-01-07 Westinghouse Brake & Signal Door close mechanism
DE3420631A1 (de) * 1984-06-02 1985-12-05 Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover Tuerbetaetigungsanlage
DE3532982A1 (de) * 1985-09-16 1987-03-26 Bode & Co Geb Vorrichtung zur erfassung der bewegung und/oder der position eines schwenktuerfluegels in einem fahrzeug
DE3702710C2 (de) * 1987-01-30 1996-04-11 Wabco Gmbh Fremdkraftbetätigte Türschließanlage
DE3706096A1 (de) * 1987-02-25 1988-09-08 Knorr Bremse Ag Steuereinrichtung fuer hilfskraftbetaetigbare tueren
US5119739A (en) * 1989-04-05 1992-06-09 Morrison-Knudsen Company, Inc. Transit car door system and operation
DE4000730A1 (de) * 1990-01-12 1991-08-01 Bosch Gmbh Robert Verfahren und vorrichtung zum betreiben von fremdkraftbetaetigten teilen mit einklemmgefahr
DE19504606C2 (de) * 1995-02-11 1999-01-07 Kostal Leopold Gmbh & Co Kg Optoelektronische Einrichtung zur Erfassung von auf der Außenseite einer transparenten Scheibe sich ablagerndem Niederschlag
DE10024230A1 (de) * 2000-05-17 2001-11-22 Volkswagen Ag Drehwinkel-Sensor
DE102015014802A1 (de) 2015-11-13 2017-05-18 Wabco Gmbh Verfahren und Steuerungseinrichtung zur Steuerung und Überwachung eines Fahrgasttürsystems eines Personen befördernden Fahrzeugs sowie diesbezügliches Fahrzeug
CN110952843B (zh) * 2019-12-25 2021-07-02 武汉宏佳宝汽车零部件有限公司 车辆的车门锁紧装置

Citations (7)

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Publication number Priority date Publication date Assignee Title
US2832588A (en) * 1954-11-19 1958-04-29 Nat Pneumatic Co Inc Control system for power operated doors equipped with obstruction detecting means
US4300663A (en) * 1979-12-27 1981-11-17 Otis Elevator Company Elevator door motion mode control
US4300661A (en) * 1979-12-27 1981-11-17 Otis Elevator Company Elevator door stall mode with hysteresis
US4342379A (en) * 1979-12-27 1982-08-03 Otis Elevator Company Time controlled elevator door motion
US4376971A (en) * 1980-02-02 1983-03-15 Gebr. Bode & Co. System for protection against getting caught in automatically operable doors or windows, particularly of vehicles
US4476678A (en) * 1980-01-31 1984-10-16 Plc Peters Limited Control mechanism for pneumatic apparatus
US4478131A (en) * 1980-08-29 1984-10-23 Wabco Fahrzeugbremsen Gmbh Electro-pneumatic door control apparatus

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DE2027816C3 (de) * 1970-06-05 1984-06-20 Geze Gmbh, 7250 Leonberg Sicherheitssteuerung für automatisch schließende Türen
CS178009B1 (de) * 1974-10-25 1977-08-31
DE2727518A1 (de) * 1977-06-18 1979-01-04 Daimler Benz Ag Verfahren und vorrichtung zum betrieb servobetaetigter schliesseinrichtungen
DE2928801C2 (de) * 1979-07-17 1986-01-30 Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover Türbetätigungsanlage
DE3111711C2 (de) * 1981-03-25 1985-09-19 Gebr. Bode & Co, 3500 Kassel Einklemmsicherungseinrichtung für automatisch betätigbare Türen oder Fenster, insbesondere an Fahrzeugen

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2832588A (en) * 1954-11-19 1958-04-29 Nat Pneumatic Co Inc Control system for power operated doors equipped with obstruction detecting means
US4300663A (en) * 1979-12-27 1981-11-17 Otis Elevator Company Elevator door motion mode control
US4300661A (en) * 1979-12-27 1981-11-17 Otis Elevator Company Elevator door stall mode with hysteresis
US4342379A (en) * 1979-12-27 1982-08-03 Otis Elevator Company Time controlled elevator door motion
US4476678A (en) * 1980-01-31 1984-10-16 Plc Peters Limited Control mechanism for pneumatic apparatus
US4376971A (en) * 1980-02-02 1983-03-15 Gebr. Bode & Co. System for protection against getting caught in automatically operable doors or windows, particularly of vehicles
US4478131A (en) * 1980-08-29 1984-10-23 Wabco Fahrzeugbremsen Gmbh Electro-pneumatic door control apparatus

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU626725B2 (en) * 1989-04-05 1992-08-06 Morrison-Knudsen Company, Inc. Transit car door system and operation
AU650575B2 (en) * 1990-09-25 1994-06-23 Morrison-Knudsen Company, Inc. Transit car door system and operation
FR2808300A1 (fr) * 2000-03-27 2001-11-02 Stabilus Gmbh Systeme d'actionnement comprenant une unite a piston-et-cylindre et un entrainement
US20060123932A1 (en) * 2004-12-10 2006-06-15 Nissan Motor Co., Ltd. Testing device for evaluating performance of closure of a vehicle door and testing method
US7490525B2 (en) * 2004-12-10 2009-02-17 Nissan Motor Co., Ltd. Testing device for evaluating performance of closure of a vehicle door and testing method
EP1726761A1 (de) * 2005-05-24 2006-11-29 Grupo Antolin-Ingenieria, S.A. Pneumatischer Fensterheber
US7419087B2 (en) * 2005-08-03 2008-09-02 Starco, Llc Collection device and method
US20070029372A1 (en) * 2005-08-03 2007-02-08 Starco Llc Collection device and method
US20090216400A1 (en) * 2008-02-22 2009-08-27 Gm Global Technology Operations, Inc. Fuel door sensor diagnostic systems and methods
US8000856B2 (en) * 2008-02-22 2011-08-16 GM Global Technology Operations LLC Fuel door sensor diagnostic systems and methods
US20090293614A1 (en) * 2008-05-30 2009-12-03 Gm Global Technology Operations, Inc. Apparatus and method for determining the closing velocity of a vehicle door
ES2401784R1 (es) * 2011-04-13 2013-08-26 Medva Mecanismos Del Valles S L Sistema de seguridad para puertas
US11565892B2 (en) 2020-07-08 2023-01-31 Trans-Vac Systems LLC Methods and systems for operation of a vacuum transport system

Also Published As

Publication number Publication date
EP0086267B1 (de) 1985-05-15
DE3205091A1 (de) 1983-08-18
EP0086267A1 (de) 1983-08-24
DE3263568D1 (de) 1985-06-20
ATE13327T1 (de) 1985-06-15

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